A design principle of the decentralized control and its applications
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説明
Why can animals show amazingly sinuous and robust motion under unpredictable complex environments? It is because animals have a large number of degrees of freedom in their bodies and can orchestrate them very well. Even for the most advanced robots today, such abilities are difficult to attain. In order to create animal-like robots, autonomous decentralized control (ADC) is the key concept that facilitates real-time control of a large number of degrees of freedom corresponding to the changing surroundings. We propose a simple design principle of ADC, which is termed as discrepancy control; then, we test it by implementing it in various types of robots.
収録刊行物
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- AIP Conference Proceedings
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AIP Conference Proceedings 2440-2443, 2013-01-01
AIP